Simultaneous localization and formation using angle-only measurements in 2D

This paper solves the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane. The multi-agent system consists of leaders who have the knowledge of their absolute positions in the global coordinate frame, and followers who do not know their absolute positio...

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Main Authors: Chen, Liangming, Xie, Lihua, Li, Xiaolei, Fang, Xu, Feroskhan, Mir
Other Authors: School of Mechanical and Aerospace Engineering
Format: Article
Language:English
Published: 2022
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Online Access:https://hdl.handle.net/10356/163725
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1637252022-12-15T03:06:32Z Simultaneous localization and formation using angle-only measurements in 2D Chen, Liangming Xie, Lihua Li, Xiaolei Fang, Xu Feroskhan, Mir School of Mechanical and Aerospace Engineering School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering Multi-Agent System Angle Measurements This paper solves the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane. The multi-agent system consists of leaders who have the knowledge of their absolute positions in the global coordinate frame, and followers who do not know their absolute positions but have angle-only measurements and communication with respect to their neighboring agents. The aim of SLAF is to simultaneously localize and control the followers such that a desired formation among the leaders and followers can be achieved by using locally available sensing and communication information. To handle the challenging situation where the formation becomes unlocalizable at some nongeneric configurations, a perturbation-based SLAF algorithm is proposed such that the SLAF task can be achieved with an asymptotic convergence. To meet different tasks’ requirements, three types of distributed SLAF algorithms are designed for the followers when the leaders are static, move with constant, or time-varying velocities, respectively. The effect of measurement noises, extension to other types of sensor measurements, requirement on agents’ coordinate frames, collision and collinearity avoidance are also discussed. To validate the theoretical results, simulation examples corresponding to the discussed scenarios are carried out. The work of Xiaolei Li was supported in part by the National Natural Science Foundation of China under Grants 61903319 and 62103352. 2022-12-15T03:06:31Z 2022-12-15T03:06:31Z 2022 Journal Article Chen, L., Xie, L., Li, X., Fang, X. & Feroskhan, M. (2022). Simultaneous localization and formation using angle-only measurements in 2D. Automatica, 146, 110605-. https://dx.doi.org/10.1016/j.automatica.2022.110605 0005-1098 https://hdl.handle.net/10356/163725 10.1016/j.automatica.2022.110605 2-s2.0-85138813020 146 110605 en Automatica © 2022 Elsevier Ltd. All rights reserved.
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering::Electrical and electronic engineering
Multi-Agent System
Angle Measurements
spellingShingle Engineering::Electrical and electronic engineering
Multi-Agent System
Angle Measurements
Chen, Liangming
Xie, Lihua
Li, Xiaolei
Fang, Xu
Feroskhan, Mir
Simultaneous localization and formation using angle-only measurements in 2D
description This paper solves the simultaneous localization and formation (SLAF) problem for a multi-agent system moving in 2D plane. The multi-agent system consists of leaders who have the knowledge of their absolute positions in the global coordinate frame, and followers who do not know their absolute positions but have angle-only measurements and communication with respect to their neighboring agents. The aim of SLAF is to simultaneously localize and control the followers such that a desired formation among the leaders and followers can be achieved by using locally available sensing and communication information. To handle the challenging situation where the formation becomes unlocalizable at some nongeneric configurations, a perturbation-based SLAF algorithm is proposed such that the SLAF task can be achieved with an asymptotic convergence. To meet different tasks’ requirements, three types of distributed SLAF algorithms are designed for the followers when the leaders are static, move with constant, or time-varying velocities, respectively. The effect of measurement noises, extension to other types of sensor measurements, requirement on agents’ coordinate frames, collision and collinearity avoidance are also discussed. To validate the theoretical results, simulation examples corresponding to the discussed scenarios are carried out.
author2 School of Mechanical and Aerospace Engineering
author_facet School of Mechanical and Aerospace Engineering
Chen, Liangming
Xie, Lihua
Li, Xiaolei
Fang, Xu
Feroskhan, Mir
format Article
author Chen, Liangming
Xie, Lihua
Li, Xiaolei
Fang, Xu
Feroskhan, Mir
author_sort Chen, Liangming
title Simultaneous localization and formation using angle-only measurements in 2D
title_short Simultaneous localization and formation using angle-only measurements in 2D
title_full Simultaneous localization and formation using angle-only measurements in 2D
title_fullStr Simultaneous localization and formation using angle-only measurements in 2D
title_full_unstemmed Simultaneous localization and formation using angle-only measurements in 2D
title_sort simultaneous localization and formation using angle-only measurements in 2d
publishDate 2022
url https://hdl.handle.net/10356/163725
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